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本文研究了基于领航跟随法的多机器人系统编队控制问题.首先,基于队形约束,给出跟随者期望的轨迹,将编队问题转化为单个跟随者的轨迹跟踪问题.在此基础上,基于双幂次滑模趋近律,设计了跟随者的线速度和角速度控制器,保证了跟踪误差能够快速收敛到零,从而保证了编队队形的稳定.最后,通过仿真验证了所提方法的有效性. 相似文献
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做领导查询需求难,领导也讲不清;领导查什么?表格和图表。这是本文要介绍的主要原因及内容,本人通过公司信息化建设近十年的经验,一般员工到领导的信息需求都经历过,对过程体会较深。通过下面内容的简单扼要介绍为领导查询的设计提供一些意见。 相似文献
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正环境电场中闪电先导的始发和传播 总被引:11,自引:9,他引:2
为了研究中国内陆高原雷暴正极性闪电放电的特点,中日两国科学家于1997年7~8月在甘肃省平凉市联合进行了人工触发闪电野外实验。利用设在离触发点约3.5km处的高速数字化摄像系统结合在闪道底部的电流测量记录,对在正环境电场中触发的两次闪电的初始先导的发生和发展特点进行了研究。资料分析表明,这两次触发闪电都是由火箭顶部始发的上行负先导传输入云而形成短暂的连续电流放电过程,整个放电持续时间分别只有17和26ms。先导在垂直方向的传输速度随时间而增加,平均值约为3.5×105m/s。正环境电场中的先导在向云底传输过程中可能产生多个分枝,但它们一般只存在几毫秒时间就消亡了,只有少数分枝能够发展入云。主通道的亮度综合反映了各分枝亮度的变化,而它本身又与在闪道底部测量记录到的闪电放电电流变化存在很好的对应关系。 相似文献
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人工触发闪电放电过程分析:I.先导放电过程 总被引:4,自引:3,他引:1
利用人工触发闪电电场,电流和闪电通道亮度高速摄像观测资料,分析了第一次回击前衔导过程的放电特性,结果指出,对于空中触发,先导传输具有“双向”特征,由于下行先导发展,先导通道电流分布具有不均匀性,连接导线汽化都发生在上行先导阶段。人工闪电第一次回击虽然与自然闪电继后回击特性十分相似,但两者放电特征仍有差别,前者具有曾长的连续电流过程。 相似文献
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K过程是闪电放电过程中的一种放电事件。该文使用两套VHF宽带干涉仪2010年夏季在广州从化地区获取的3次云闪三维闪电辐射源定位数据,分析其中的K过程时空发展特征与地面电场特征。结果表明:宽带干涉仪观测到的K过程主要由快速发展的负极性放电事件组成,按定位结果的分布可划分为3个阶段:负极性反冲先导发生在云闪起始区域下方,沿正先导一端已有路径向闪电起始区域传播;部分反冲先导能进入之前负先导建立的通道并快速发展;反冲先导将原有通道激活后进一步促进负先导继续发展。同时使用辐射源三维定位数据计算了8次反冲先导的平均发展速度,反冲先导的发展速度为106~107 m·s-1量级,与负地闪中的负极性直窜先导相似,但均小于回击速度。 相似文献
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Upward lightning flashes initiated simultane- ously from two towers separated by a distance of 3420 m were analyzed in detail based on high-speed camera images and S-band Doppler radar echo intensity. Both discharges lasted more than 250 ms and were self-initiated from the towers in the form of upward positive leaders with a time difference of less than 4 ms. Abundant recoil leaders oc- curred transiently in the remnant channel sections during the development of the upward lightning. The number of recoil leaders over the lower tower was greater than over the higher tower. When the concurrent upward flashes occurred, the radar echo intensity in the area of the towers was no more than 45 dBZ and the towers were separately located beneath two echo centers with low altitudes of 2-3 kin. 相似文献
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Optical and Electrical Observations of an Abnormal Triggered Lightning Event with two Upward Propagations 下载免费PDF全文
ZHENG Dong ZHANG Yijun LU Weitao ZHANG Yang DONG Wansheng CHEN Shaodong DAN Jianru 《Acta Meteorologica Sinica》2012,26(4):529-540
This study investigates an abnormal artificially triggered lightning event that produced two positive upward propagations: one during the initial stage (i.e., the upward leader (UL)) and the other after a negative downward aborted leader (DAL). The triggered lightning was induced in a weak thunderstorm over the experiment site and did not produce a return stroke. All of the intra-cloud lightning around the experiment site produced positive changes in the electric field. The initial stage was a weak discharge process. A downward dart leader propagated along the channel produced by the first UL, ending at a height of approximately 453 m and forming a DAL. Under the influence of the DAL, the electric field at a point located 78 m from the rod experienced a steady reduction of about 6.8 kV m-1 over 5.24 ms prior to the initiation of a new upward channel (i.e., the second upward propagation (UP)). The second UP, which started approximately 4.1 ms after the termination of the DAL and propagated along the original channel, was triggered by the DAL and sustained for approximately 2.95 ms. Two distinct current pulses were superimposed on the current of the second UP. The first pulse, which was related to the sudden initiation of the second UP, was characterized by a more rapid increase and decrease and a larger peak value than the second pulse, which was related to the development of the second UP into the area affected by the DAL. The second UP contained both a similar-to-leader process and a following neutralization process. This study introduces a new type of triggering leader, in which a new upward discharge is triggered in an established channel by an aborted leader propagating along the same channel with opposite polarity and propagation direction. 相似文献
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地闪回击辐射场波形的重构及地闪放电参量的估算 总被引:4,自引:0,他引:4
根据地闪回击传输线电流模式重新确立了地闪回击辐射场与电流之间的关系式,并在观测实验的基础上,重构了不同距离范围内(15~50km,50~100km,100~150km)的地闪回击辐射场波形,重构波形与实测波形之间有很好的一致性。同时在合理的假定下,将回击辐射电场与电流之间的关系进一步推广到先导过程,并估算了地闪先导放电过程中的三个参量。发现首次回击前最后一个先导脉冲电流为2.7kA,通道的电荷密度为(0.135~1.35)×10-3C·m-1,负地闪回击过程中和电荷量为2.06C。 相似文献